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公开(公告)号：US20220388789A1
公开(公告)日：2022-12-08
申请号：US17755270
申请日：2019-11-22
Applicant: ABB Schweiz AG
Inventor： Hao Gu
IPC: B65G54/02
Abstract: Present disclosure provide a conveyor, a conveying system having the same, and a method of manufacturing the conveyor. The conveyor comprises a carrying member adapted to carry an object to be conveyed. The conveyor also comprises a plurality of rollers arranged under the carrying member and adapted to be guided to move along guide rails in a first direction. The conveyor further comprises a first magnetic engaging portion arranged to extend from a lower surface of the carrying member to a position near to the guide rails in a second direction normal to the first direction, and adapted to interact with a second magnetic engaging portion on the guide rails, to generate a driving force for driving the conveyor in the first direction.
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公开(公告)号：US11312019B2
公开(公告)日：2022-04-26
申请号：US16377869
申请日：2019-04-08
Applicant: ABB Schweiz AG
Inventor： Jiajing Tan , Hao Gu , Jinsong Li , Yan Xu , Shaojie Cheng , Lei Mao
IPC: B25J9/16 , G05B19/404 , G01B21/04
Abstract: A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.
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13.发明授权公开(公告)号：US11207781B2
公开(公告)日：2021-12-28
申请号：US16674916
申请日：2019-11-05
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Qingwei Li , Jinsong Li , Jihuan Tian , Liwei Qi , Jianjiang Wang
IPC: B25J9/16 , B25J11/00 , G05B19/401 , G05B19/414
Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.
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公开(公告)号：US11077561B2
公开(公告)日：2021-08-03
申请号：US16525816
申请日：2019-07-30
Applicant: ABB Schweiz AG
Abstract: A method and apparatus for selecting an initial point for industrial robot commissioning, the initial point being located above a touchscreen for industrial robot commissioning. The method including: calculating a nominal posture of a work object relative to the industrial robot by a nominal posture calculating module; and selecting an initial point according to the nominal posture by an initial point selecting module. The method and apparatus can automatically select the initial point so as to further increase automation of the commissioning process and reduce workloads.
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公开(公告)号：US10773905B2
公开(公告)日：2020-09-15
申请号：US16536943
申请日：2019-08-09
Applicant: ABB Schweiz AG
Inventor： Jibo Yang , Zhaofu Chi , Hao Gu
IPC: B65G54/02
Abstract: A magnetic rack, conveying truck and corresponding conveyor. The magnetic rack includes: a body on which a groove is disposed; at least one magnetic brick on which a first contact part is disposed, the magnetic brick being located in the groove; and a cover which is placed over the groove so as to partially cover the groove, a second contact part and at least one hole being disposed on the cover, the first contact part being contact with the second contact part to fix the magnetic brick in the groove, the at least one hole being used for exposing the at least one magnetic brick.
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Patent Agency Ranking
公开(公告)号：US10723563B2
公开(公告)日：2020-07-28
申请号：US16434692
申请日：2019-06-07
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Zhaofu Chi , Jibo Yang
Abstract: A magnetic conveying system for moving object between a first transfer system and a second transfer system transversely arranged, includes: a first carrier for transferring the object, having a first magnetic engaging part; and a first drive member, having a second magnetic engaging part interacting with the first magnetic engaging part to move the first carrier in a first transfer direction of the first transfer system to a transverse section of the first transfer system and the second transfer system; at least a portion of the second magnetic engaging part is arranged in a space between the transverse section and the first magnetic engaging part crossing an edge of the transverse section. This is helpful for keeping the magnetic coupling above a predetermined level when the first carrier enters into the transverse section from the first transfer system or moves away from the transverse section towards the first transfer system.
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公开(公告)号：US10606410B2
公开(公告)日：2020-03-31
申请号：US16048773
申请日：2018-07-30
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Liwei Qi , Roger Mellander , Daniel X. Wappling
Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.
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公开(公告)号：US11958186B2
公开(公告)日：2024-04-16
申请号：US17014093
申请日：2020-09-08
Applicant: ABB Schweiz AG
Inventor： Zhiqiang Tao , Hao Gu , Shanghua Li , Cuicui Su , Weidong Zhou , Jiansheng Chen , Shaobo Xie
CPC classification number: B25J19/0087 , A61L2/238 , B25J9/0012 , B29C45/0001 , B29C64/106 , B33Y80/00
Abstract: Structural members and methods for manufacturing a plastic-based, bulk, antimicrobial structural member of a robot. Such bulk antimicrobial plastic solution can meet the hygienic requirement and the mechanical performance requirement of a structural member of a robot simultaneously. Meanwhile, it may reduce the overall weight of the robot.
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公开(公告)号：US11885405B2
公开(公告)日：2024-01-30
申请号：US17296743
申请日：2018-12-10
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Jibo Yang , Han Chen , Wei Song , Jiafan Zhang
IPC: F16H1/32 , F16H57/032 , B25J9/10 , F16H57/02 , F16H57/12
CPC classification number: F16H57/032 , B25J9/102 , F16H1/32 , F16H2057/02021 , F16H2057/0325 , F16H2057/125
Abstract: A housing for a plastic gearbox and associated plastic gearbox and a robot. The housing includes a body including an inner engaging portion circumferentially arranged on an inner surface of the body, the inner engaging portion adapted to be engaged with a transmission assembly of the plastic gearbox; and an adjusting mechanism arranged around the body and operable to squeeze the body inwardly to reduce an inner diameter of the body. By using the adjusting mechanism to squeeze the body of the housing inwardly, the fit error between the inner engaging portion and the transmission assembly can be compensated in an efficient way. Furthermore, the adjusting mechanism is a part of the housing and thus the body of the housing which is made of plastic does not need to be too thick, which makes injection molding easier and manufacturing precision improved.
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公开(公告)号：US11873891B2
公开(公告)日：2024-01-16
申请号：US17624560
申请日：2019-07-29
Applicant: ABB Schweiz AG
Abstract: Embodiments of the present disclosure provide a planetary gearbox. The planetary gearbox includes a housing extending along a first axis; a first coupling member arranged on an inner circumference of the housing; an input component operable to rotate about the first axis; at least one intermediate component, each intermediate component comprising a second coupling member and adapted to be driven by the input component to rotate about a second axis offset from the first axis with the second coupling member engaging with the first coupling member; and an output component coupled to the at least one intermediate component and operable to rotate about the first axis with rotation of the at least one intermediate component, wherein at least one of the first coupling member and the second coupling member comprises a synchronous belt.
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